CN203101070U - High-speed train running gear fault diagnosis and remote-monitoring system based on Internet of things - Google Patents
High-speed train running gear fault diagnosis and remote-monitoring system based on Internet of things Download PDFInfo
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- CN203101070U CN203101070U CN 201220653945 CN201220653945U CN203101070U CN 203101070 U CN203101070 U CN 203101070U CN 201220653945 CN201220653945 CN 201220653945 CN 201220653945 U CN201220653945 U CN 201220653945U CN 203101070 U CN203101070 U CN 203101070U
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Abstract
The utility model relates to a high-speed train running gear fault diagnosis and remote-monitoring system based on the Internet of things. The system comprises vehicle sensors, a signal conditioning and filtering device, a central processing system, a data input and output interface device, a depot information collection system, a national train maintenance system, and a man-machine interaction device. According to the utility model, the system is provided with multiple vehicle sensors, so that the accurate identification and positioning of the faults of critical equipment of the running gears are realized, the prediction of the faults is realized, the operation risks of the train are reduced, the remote fault diagnosis is realized, the fault diagnosis cost is reduced, and the fault diagnosis period is shortened.
Description
Technical field:
The utility model relates to the fault diagnosis and the remote supervision system of bullet train traveling portion, particularly based on the bullet train traveling portion's fault diagnosis and the remote supervision system of Internet of Things.
Background technology:
Along with the continuous lifting of High Speed Train in China travelling speed and operation mileage, the safe reliability of train traveling portion becomes important unusually.Train traveling portion key equipment state is one of important hidden danger of vehicle safety operation unusually.Serious, paroxysmal abnormality can cause vehicle derailing, even serious accident such as topple, thereby society, personnel are caused imponderable loss.Common travel unit key equipment state has the bogie unstability unusually, bearing temperature is too high and wheel tread scratch and uneven, bearing crackle and fracture, gear tooth breakage and crackle etc.
At present can only adopt the manual measurement mode to the monitoring of the state of traveling portion, in the manual measurement mode, artificial experience is occupied leading position in diagnosis, and human factor is bigger.And potential safety hazard that can not discovering device can not find in time that to the early stage fault that occurs of vehicle cause maintenance untimely, real-time is not strong.Manual measurement can not comprehensively write down running status and failure message, can not systematization to faults analysis.
Chinese patent (application) number is 201110381590, name is called " bullet train intellectualizing system and communication means thereof ", comprise the vehicle intelligent sensing node, the vehicle-mounted part of train control system, vehicle-mounted data center, car ground wide-band communication system, the ground data center, main engine plants and/or motor-car base application system, Internet of Things acquisition terminal, broadband application system, one or more sensors, the I/O interfacing equipment has been realized the detection certainly of train system, self diagnosis, the function of self-decision, but this intellectualizing system can't be realized the diagnosis and the on-line monitoring of all trains of the whole nation, so that total system also needs is further perfect.
The utility model content:
The utility model is based on the bullet train traveling portion's fault diagnosis and the remote supervision system of Internet of Things, on the basis of original intellectualizing system, improve, diagnosis and on-line monitoring have been realized to national train, show intuitively by human-computer interaction device and the failure message of train operation state and equipment to make the intelligent checking system of train more perfect.
In order to achieve the above object, the technical solution of the utility model is:
A kind of bullet train traveling portion's fault diagnosis and remote supervision system based on Internet of Things, be included in onboard sensor, signal condition and filter, central processing system, data input and output interface device, rolling stock section's Information Collection System, whole nation train overhaul system, human-computer interaction device, described onboard sensor comprises acceleration transducer, angular-rate sensor, temperature sensor and displacement transducer, give signal condition and filter with the information conveyance that onboard sensor collects, treated signal is transferred to central processing system, carries out the analysis and the storage of data, send rolling stock section Information Collection System with the output interface device with wireless communication system by the data input, arrangement through the rolling stock section Information Collection System gathers, and gives national train overhaul system with the information transmission of all train traveling portion key equipments, and is presented on the human-computer interaction device.
Further, acceleration transducer is installed in truck journal box, gear case, bogie front end framework is on the motor, the acceleration information of collecting device vibration, temperature sensor is installed on the truck journal box, the collecting temperature change information, and displacement transducer is gathered the displacement information between car body and the bogie, angular-rate sensor is installed on the bogie front end framework, gathers the information of bogie capsizing angle.
Further, above-mentioned onboard sensor can be used, and the signal that collects is carried out data processing, can omnibearing location and detect the failure message of train traveling portion key equipment.
Further, displacement transducer and the acceleration transducer that is installed on the truck journal box are used, and displacement information and the acceleration information that collects carried out data processing, can detect the horizontal convergence capabilities of bogie.
Further, be installed in acceleration transducer and angular-rate sensor on the bogie front end framework, can detect the fault that outer rim rolls on rail.
Further, be installed in the acceleration transducer on bogie front end framework and the truck journal box, the information via data analysis that collects can detect axle vibroshock aspect of performance.
Further, wireless communication system comprises GPRS radio communication, wireless sensor network, smart antenna.
Further, rolling stock section's Information Collection System sends data sheet to national train overhaul system by mobile 3G network or internet.
Further, the maintenance task all can be assigned by rolling stock section's Information Collection System and national train overhaul system.
Content to sum up, bullet train traveling portion's fault diagnosis and remote supervision system based on Internet of Things described in the utility model, can accurate localization and show faulty equipment, the equipment that breaks down is carried out prediction and alarm, make things convenient for vehicle maintenance personnel maintenance fast in time, improve the maintenance efficiency of train, reduced the train operation risk, improved security.And this system realizes the remote monitoring of fault, reduces the fault diagnosis cost, shortens the fault diagnosis cycle, for good stable basis has been established in the safe operation of bullet train.
Description of drawings:
Fig. 1 is that the utility model is based on the bullet train traveling portion's fault diagnosis of Internet of Things and the schematic process flow diagram of remote supervision system.
Fig. 2 is that the utility model is based on the bullet train traveling portion's fault diagnosis of Internet of Things and the structural representation of remote supervision system.
As depicted in figs. 1 and 2, bogie front end framework 1, truck journal box 2, gear case 3, bogie 4, motor 5, angular-rate sensor 6, acceleration transducer 7, temperature sensor 8, displacement transducer 9, signal condition and filter 10, central processing system 11, data inputs and output interface device 12, rolling stock section's Information Collection System 13, national train overhaul system 14, human-computer interaction device 15, wireless communication system 17, mobile 3G network or internet 18, onboard sensor 19, garage 20, on-line monitoring and failure diagnosis apparatus 21.
Embodiment:
Below in conjunction with accompanying drawing and embodiment the utility model is described further.
The utility model is based on the bullet train traveling portion's fault diagnosis and the remote supervision system of Internet of Things, the multiple onboard sensor 19 that comprises sensing layer, signal condition and filter 10, central processing system 11, data input and output interface device 12, rolling stock section's Information Collection System 13 of transport layer, the national train overhaul system 14 of application layer, human-computer interaction device 15.
Sensor is a kind of signal pickup assembly that non-electric physical quantity is converted to electric signal.Multiple onboard sensor 19 comprises acceleration transducer 7, angular-rate sensor 6, temperature sensor 8 and displacement transducer 9.Acceleration transducer 7 is gathered the lateral acceleration information of bogie front end framework 1, truck journal box 2, gear case 3, motor 5, angular-rate sensor 6 is gathered the information on the bogie front end framework 1, temperature sensor 8 is gathered the temperature information of truck journal box 2, and displacement transducer 9 is gathered the displacement information of car body and bogie 4.
Temperature sensor 8 is installed on the truck journal box 2, it is measurement to the temperature of truck journal box 2, convert variation of temperature to electric signal, system can be further processed electric signal, analyze, wherein can set a limit value to the temperature variation of truck journal box 2, when temperature surpasses this limit value, the alarm equipment alarm that is attached thereto.
Displacement transducer 9 is installed between car body and the bogie 4, with the car body is reference point, this sensor is used with the acceleration transducer 7 that is installed on the truck journal box 2, can detect the convergence capabilities of bogie transverse vibration, whether there is fault from the aspect detection bogie of bogie inherence, prevents the generation of significant trouble and major accident to the full extent.
Acceleration transducer 7 is installed on the truck journal box 2, vibration to truck journal box 2 detects, convert vibration signal to electric signal, can carry out small echo to signal, data analyses such as cepstrum, thereby can make early stage fault pre-alarming to truck journal box 2, and can carry out fault diagnosis and on-line monitoring the air spring aspect of performance that leaks gas.
Acceleration transducer 7 is installed on the gear case 3, and the vibration situation of gear case 3 is detected, and signal is carried out corresponding data analysis, and gear is carried out fault diagnosis.
Acceleration transducer 7 is installed on the motor 5, the acceleration signal of testing of electric motors 5 vibration, and draw the three-phase current of motor 5, and by in conjunction with the acceleration signal value of motor 5 and the data processing of three-phase electricity flow valuve, calculate, can carry out Fault Diagnosis to motor 5.
Acceleration transducer 7 is installed on the bogie front end framework 1, in conjunction with the acceleration transducer on the truck journal box 27, can carry out spool fault diagnosis of vibroshock aspect of performance and an on-line monitoring by algorithm.
Angular-rate sensor 6 is installed on the bogie front end framework 1, and the signal that angular-rate sensor 6 is gathered carries out integral and calculating, can calculate the angle of toppling, and when the bogie capsizing angle exceeds some limit values, sends the alerting signal that train will overturn.
Be installed in the acceleration transducer 7 of truck journal box 2 and bogie front end framework 1, the on-line monitoring that can be used for the train off-line, when the feature of bogie vibration signal has bigger change, the mean square deviation of vibration signal strengthens significantly, then sends the warning of train bogie off-line.In order to prevent the situation of train off-line false alarm, on-line monitoring about the train off-line can also adopt another mode, at headstock and the outside center section of the tailstock camera is installed, can two days rail residing positions in image of identification by Flame Image Process, consider that car body has the situation of teeter, when rail exceeds when being positioned at the due position of image, carry out the train off-line and report to the police.
Be installed in acceleration transducer 7 and angular-rate sensor 6 on the bogie front end framework 1, can the signal of gathering be handled, can take turns the fault that right outer rim rolls by on-line monitoring on rail by existing algorithm.
Acceleration signal, angular velocity signal, temperature signal, displacement signal is by signal condition and filter 10, signal is carried out rough handling, suppress unwanted noise and interference, extract useful signal, and comprise analog to digital converter, analog signal conversion is become digital signal, be convenient to transmit the reception with central processing system 11, the signal that converts is transferred to central processing system 11, carries out the further processing of signal.
Comprise expert knowledge library and early prediction model in the database of central processing system 11.Set up a large database, different characteristic signals and failure message is corresponding one by one, when carrying out fault diagnosis, the characteristic signal that calculates is compared one by one by the content in fuzzy algorithm and this large database, draw the result of fault diagnosis by comparison, can make early warning to equipment, eliminate the hidden danger of key equipment to the full extent.
Central processing system 11 is carried out Unified coding with equipment running status information and fault diagnosis result, be compiled into the failure message standard code, standard code can be divided into faulty equipment code, failure mode code, trouble location code, fault level code and breakdown maintenance code.Failure message is carried out standardization divide, provide grouped data clearly for setting up expert knowledge library.And realize the accurate identification and the location of fault, be convenient to the vehicle maintenance personnel and keep in repair fast, improved the maintenance efficiency of train.
Unified coding is regular unique device identification number of establishment such as key, the fault level of the order of arranging on bogie according to traveling portion key equipment, device name, equipment, the standard failure message code of the unified organizational system of equipment, be device fault information to be carried out standardization divide, make things convenient for gathering of data, arrangement, classification, the fault characteristic of easier identification equipment, the convenient for maintaining personnel carry out plant maintenance.By the failure message after the Unified coding, which type of fault each equipment has, and just has the corresponding standard code and shows, can directly pass through the standardized information code like this, tells the position of faulty equipment and reason etc. intuitively.
Central processing system 11 is input to data input/output interface device 12 with the data after the Unified coding, data input/output interface device 12 receives the running state information of central processing system 11 and the standard information code of fault diagnosis result by wired connection, as shown in Figure 2, enter into the garage 20 of train overhaul and maintenance at train after, data input/output interface device 12 is transferred to rolling stock section's Information Collection System 13 by wireless communication system 17.
Preferably, wireless communication system 17 can comprise GPRS radio communication, wireless sensor network, smart antenna.
Described signal condition and filter 10, central processing system 11 and data input/output interface device 12, these three modules constitute on-line monitoring and failure diagnosis apparatus 21 as shown in Figure 2.
Every joint compartment of every row train all possesses on-line monitoring and diagnostic device 21, so just realize the on-line monitoring and the diagnosis in every joint compartment of train, accurate localization the position of faulty equipment, saved the time of maintenance, improved the efficient of maintenance.
As shown in Figure 2, rolling stock section's Information Collection System 13 connects the client computer by radio receiver, with each train each the joint compartment the failure criterion message code be sent to the client computer, the client computer can be collected rolling stock section's Information Collection System 13 diagnostic data of train by mobile 3G network or internet 18, be organized into data sheet, data sheet is gathered by mobile 3G network or internet 18 send to national train overhaul system 14.
Rolling stock section's Information Collection System 13 can be according to the failure message code of standard, the trouble spot of positioning equipment, simple for some, the equipment that is easy to overhaul, can ask the maintenance personal of rolling stock section that vehicle is carried out in time, effectively keeps in repair, can save servicing time and maintenance cost like this, improve the efficient of the maintenance and the maintenance of train.
Whole nation maintenance terminal database server is set, the web(WWW in the whole nation train overhaul system 14) server, security firewall, human-computer interaction device 15.Can realize the on-line monitoring of the traveling portion key equipment of bullet train to the gathering and store of the failure message of all bullet train traveling portion key equipments of the whole nation.
Whole nation maintenance terminal database server receives the standard information code of rolling stock section's Information Collection System 13, the failure criterion message code is presented on the human-computer interaction device 15, demonstration fault signature by human-computer interaction device 15, specify the corresponding techniques personnel to carry out troubleshooting of faults, so just can distribute corresponding maintenance personal to keep in repair to faulty equipment targetedly.
Whole nation maintenance terminal database server is to the running status of all trains and the processing and the storage of failure message; the web(WWW) server is the coordinated management and the storage data of national overhaul service device client; client in all parts of the country can connect national train overhaul system 14 by the webserver; understand all train operation states and device fault information; security firewall is a safeguard protection to the web server; avoid the data of train operation system to be revealed or be maliciously tampered; if data can not correctly reflect the ruuning situation of train; this will cause very big influence to the security situation of train, even cause irreparable damage.
Human-computer interaction device 15 is intelligence systems, can be provided with 14 at rolling stock section's Information Collection System 13 and national train overhaul system.Human-computer interaction device 15 can be realized the direct interaction of train maintainer and computing machine.The running status and the failure message of the interface display train traveling portion key equipment of human-computer interaction device 15.The maintenance technician can identify serious and general fault category and faulty equipment by 15 very first times of human-computer interaction device, and makes corresponding turnaround plan according to failure modes.The technician understands more detailed part historical information if desired, also can understand some concrete parameter and operation conditionss of key equipment by the corresponding information of human-computer interaction device 15 inquiry train traveling portion key equipments, conveniently makes fault pre-alarming.
After maintenance is finished, the fault alarm on the human-computer interaction device 15 is removed.
Bullet train traveling portion's fault diagnosis and remote supervision system based on Internet of Things, can accurate localization and show faulty equipment, the equipment that breaks down is carried out prediction and alarm, make things convenient for vehicle maintenance personnel maintenance fast in time, improved the maintenance efficiency of train, reduce the train operation risk, improved security.And this system realizes the remote monitoring of fault, reduces the fault diagnosis cost, shortens the fault diagnosis cycle, for good stable basis has been established in the safe operation of bullet train.
As mentioned above, given in conjunction with the accompanying drawings scheme content can derive the similar techniques scheme.In every case be the content that does not break away from technical solutions of the utility model, to any simple modification, equivalent variations and modification that above embodiment did, all still belong in the scope of technical solutions of the utility model according to technical spirit of the present utility model.
Claims (9)
1. bullet train traveling portion's fault diagnosis and remote supervision system based on an Internet of Things, comprise onboard sensor (19), signal condition and filter (10), central processing system (11), data input and output interface device (10), rolling stock section's Information Collection System (13), national train overhaul system (14) and human-computer interaction device (15)
It is characterized in that: described onboard sensor (19) comprises acceleration transducer (7), angular-rate sensor (6), temperature sensor (8) and displacement transducer (9), give signal condition and filter (10) with the information conveyance that onboard sensor (19) collects, treated signal is transferred to central processing system (11), carry out the analysis and the storage of data, send rolling stock section Information Collection System (13) with output interface device (10) with wireless communication system (17) by the data input, arrangement through rolling stock section's Information Collection System (13) gathers, give national train overhaul system (14) with the information transmission of all train traveling portion key equipments, and be presented on the human-computer interaction device (15).
2. bullet train traveling portion's fault diagnosis and remote supervision system based on Internet of Things according to claim 1, it is characterized in that: described acceleration transducer (7) is installed on truck journal box (2), gear case (3), bogie front end framework (1) and the motor (5), the acceleration information of collecting device vibration; Described temperature sensor (8) is installed on the truck journal box (2), the collecting temperature change information; Described displacement transducer (9) is gathered the displacement information between car body and the bogie (4); Described angular-rate sensor (6) is installed on the bogie front end framework (1), gathers the information of bogie capsizing angle.
3. bullet train traveling portion's fault diagnosis and remote supervision system based on Internet of Things according to claim 2, it is characterized in that: described onboard sensor (19) can be used, the signal that collects is carried out data processing, can omnibearing location and detect the failure message of train traveling portion key equipment.
4. bullet train traveling portion's fault diagnosis and remote supervision system based on Internet of Things according to claim 3, it is characterized in that: described displacement transducer (9) and being installed on the truck journal box (2), be used with described acceleration transducer (7), the displacement information and the acceleration information that collect are carried out data processing, can detect the horizontal convergence capabilities of bogie.
5. bullet train traveling portion's fault diagnosis and remote supervision system based on Internet of Things according to claim 3, it is characterized in that: be installed in described acceleration transducer (7) and angular-rate sensor on the described bogie front end framework (1), can detect the fault that outer rim rolls on rail.
6. bullet train traveling portion's fault diagnosis and remote supervision system based on Internet of Things according to claim 3, it is characterized in that: be installed in the described acceleration transducer (7) on described bogie front end framework (1) and the described truck journal box (2), the information via data analysis that collects can detect axle vibroshock aspect of performance.
7. bullet train traveling portion's fault diagnosis and remote supervision system based on Internet of Things according to claim 1, it is characterized in that: described wireless communication system (17) comprises GPRS radio communication, wireless sensor network, smart antenna.
8. bullet train traveling portion's fault diagnosis and remote supervision system based on Internet of Things according to claim 1 is characterized in that: described rolling stock section Information Collection System (13) sends data sheet to described national train overhaul system (14) by mobile 3G network or internet (18).
9. bullet train traveling portion's fault diagnosis and remote supervision system based on Internet of Things according to claim 1 is characterized in that: the maintenance task all can be assigned by described rolling stock section Information Collection System (13) and described national train overhaul system (14).
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| CN103592122A (en) * | 2013-10-25 | 2014-02-19 | 北京交通大学 | Fault diagnosis device and method for urban rail transit train running gear |
| CN103674586A (en) * | 2013-12-12 | 2014-03-26 | 同济大学 | Method for hidden danger and fault feature extraction for train running system |
| CN103759955A (en) * | 2013-12-27 | 2014-04-30 | 西南交通大学 | Train operation state monitoring system based on data projection mode conversion |
| CN103852271A (en) * | 2012-12-01 | 2014-06-11 | 南车青岛四方机车车辆股份有限公司 | High-speed train running gear fault diagnosis and remote monitoring system based on Internet of Things |
| CN103968893A (en) * | 2014-03-17 | 2014-08-06 | 南车株洲电力机车有限公司 | Train operation experimental device based on distributed testing system |
| CN104346246A (en) * | 2013-08-05 | 2015-02-11 | 华为技术有限公司 | Failure prediction method and device |
| CN105974904A (en) * | 2016-04-27 | 2016-09-28 | 中铁第四勘察设计院集团有限公司 | Subway vehicle safety protection system and method thereof |
| CN107380202A (en) * | 2017-07-31 | 2017-11-24 | 株洲中车轨道交通装备有限公司 | Based on NB IoT nets rail vehicle Spindle Status monitoring methods and system |
| CN107380201A (en) * | 2017-07-31 | 2017-11-24 | 株洲中车轨道交通装备有限公司 | Based on wide area network and LAN axletree health status monitoring method and monitoring system |
| CN109612757A (en) * | 2018-12-13 | 2019-04-12 | 深圳时珍智能物联技术有限公司 | The method for carrying out device diagnostic based on sound characteristic and temperature profile |
| WO2019119623A1 (en) * | 2017-12-18 | 2019-06-27 | 中车长江车辆有限公司 | Railway wagon and monitoring system therefor |
| CN110606105A (en) * | 2019-09-23 | 2019-12-24 | 西南交通大学 | Safety monitoring system for walking part of unmanned subway vehicle |
| WO2020047732A1 (en) * | 2018-09-04 | 2020-03-12 | 舍弗勒技术股份两合公司 | Axle box and vehicle comprising same |
| CN113467411A (en) * | 2020-03-31 | 2021-10-01 | 比亚迪股份有限公司 | Train maintenance system |
| CN113820149A (en) * | 2020-06-04 | 2021-12-21 | 株洲中车时代电气股份有限公司 | Vehicle bogie monitoring system and method and vehicle control system and method |
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2012
- 2012-12-01 CN CN 201220653945 patent/CN203101070U/en not_active Expired - Fee Related
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| CN103852271A (en) * | 2012-12-01 | 2014-06-11 | 南车青岛四方机车车辆股份有限公司 | High-speed train running gear fault diagnosis and remote monitoring system based on Internet of Things |
| CN104346246B (en) * | 2013-08-05 | 2017-12-15 | 华为技术有限公司 | Failure prediction method and device |
| CN104346246A (en) * | 2013-08-05 | 2015-02-11 | 华为技术有限公司 | Failure prediction method and device |
| CN103592122B (en) * | 2013-10-25 | 2017-02-15 | 北京交通大学 | Fault diagnosis device and method for urban rail transit train running gear |
| CN103592122A (en) * | 2013-10-25 | 2014-02-19 | 北京交通大学 | Fault diagnosis device and method for urban rail transit train running gear |
| CN103674586A (en) * | 2013-12-12 | 2014-03-26 | 同济大学 | Method for hidden danger and fault feature extraction for train running system |
| CN103759955A (en) * | 2013-12-27 | 2014-04-30 | 西南交通大学 | Train operation state monitoring system based on data projection mode conversion |
| CN103968893A (en) * | 2014-03-17 | 2014-08-06 | 南车株洲电力机车有限公司 | Train operation experimental device based on distributed testing system |
| CN105974904A (en) * | 2016-04-27 | 2016-09-28 | 中铁第四勘察设计院集团有限公司 | Subway vehicle safety protection system and method thereof |
| CN107380202A (en) * | 2017-07-31 | 2017-11-24 | 株洲中车轨道交通装备有限公司 | Based on NB IoT nets rail vehicle Spindle Status monitoring methods and system |
| CN107380202B (en) * | 2017-07-31 | 2019-10-08 | 株洲中车轨道交通装备有限公司 | Based on NB-IoT net rail vehicle Spindle Status monitoring method and system |
| CN107380201A (en) * | 2017-07-31 | 2017-11-24 | 株洲中车轨道交通装备有限公司 | Based on wide area network and LAN axletree health status monitoring method and monitoring system |
| WO2019119623A1 (en) * | 2017-12-18 | 2019-06-27 | 中车长江车辆有限公司 | Railway wagon and monitoring system therefor |
| WO2020047732A1 (en) * | 2018-09-04 | 2020-03-12 | 舍弗勒技术股份两合公司 | Axle box and vehicle comprising same |
| CN109612757B (en) * | 2018-12-13 | 2020-07-17 | 深圳时珍智能物联技术有限公司 | Method for diagnosing equipment based on sound characteristic and temperature characteristic |
| CN109612757A (en) * | 2018-12-13 | 2019-04-12 | 深圳时珍智能物联技术有限公司 | The method for carrying out device diagnostic based on sound characteristic and temperature profile |
| CN110606105A (en) * | 2019-09-23 | 2019-12-24 | 西南交通大学 | Safety monitoring system for walking part of unmanned subway vehicle |
| CN110606105B (en) * | 2019-09-23 | 2020-08-25 | 西南交通大学 | Safety monitoring system for walking part of unmanned subway vehicle |
| CN113467411A (en) * | 2020-03-31 | 2021-10-01 | 比亚迪股份有限公司 | Train maintenance system |
| CN113820149A (en) * | 2020-06-04 | 2021-12-21 | 株洲中车时代电气股份有限公司 | Vehicle bogie monitoring system and method and vehicle control system and method |
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